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 * Software License Agreement (BSD License)
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/**
  * \author Scott Niekum
  */


#include "ros/ros.h"
#include "pr2_dmp/LearnDMPFromDemo.h"
#include "pr2_dmp/fourier_approx.h"
#include "pr2_dmp/dmp.h"
using namespace pr2_dmp;

//void chatterCallback(const std_msgs::String::ConstPtr& msg)
//{
//	ROS_INFO("I heard: [%s]", msg->data.c_str());
//}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "dmp_test_client");

	ros::NodeHandle n;
	ros::ServiceClient client = n.serviceClient<LearnDMPFromDemo>("learn_dmp_from_demo");
	LearnDMPFromDemo srv;

	DMPTraj traj;
	std::vector<double> arr;

	arr.push_back(2.2);
	arr.push_back(3.4);
	srv.request.demo = traj;
	if (client.call(srv))
	{
		//ROS_INFO("Sum: %ld", (long int)srv.response.sum);
		printf("SUCCESS\n");
	}
	else
	{
		ROS_ERROR("Failed to call service learn_dmp_from_demo");
	    return 1;
	}


	FourierApprox *f = new FourierApprox(5);
	double X[5] = {0.0, 0.25, 0.5, 0.75, 1.0};
	double Y[5] = {1.0, 2.0, 3.0, 4.0, 5.0};
	f->leastSquaresWeights(X,Y,5);
	delete f;

	//ros::init(argc, argv, "listener");
	//ros::NodeHandle n;
	//ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
	//ros::spin();

	return 0;
}
